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Full-Body Hybrid Motor Control for Reaching

  • Wenjia Huang
  • Mubbasir Kapadia
  • Demetri Terzopoulos
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 6459)

Abstract

In this paper, we present a full-body motor control mechanism that generates coordinated and diverse motion during a reaching action. Our framework animates the full human body (stretching arms, flexing of the spine, as well as stepping forward) to facilitate the desired end effector behavior. We propose a hierarchical control system for controlling the arms, spine, and legs of the articulated character and present a controller-scheduling algorithm for coordinating the sub-controllers. High-level parameters can be used to produce variation in the movements for specific reaching tasks. We demonstrate a wide set of behaviors such as stepping and squatting to reach low distant targets, twisting and swinging up to reach high lateral targets, and we show variation in the synthesized motions.

Keywords

Inverse Kinematic Twist Angle Spine Motion Step Motion Virtual Human 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  • Wenjia Huang
    • 1
  • Mubbasir Kapadia
    • 1
  • Demetri Terzopoulos
    • 1
  1. 1.University of CaliforniaLos AngelesUSA

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